Dynamic routing algorithm for modular analyzer system

Abstract

Systems and methods for dynamic routing for use with modular liquid handler systems. The route planning algorithm can be used to route vessel movers of a liquid handler system in a dynamic manner without hard coding the route, so that the route planning system can efficiently transport samples between modules of the liquid handler system while minimizing the risk of collisions and clogging. The route planning algorithm can be configured to receive a representation of the liquid handler system configuration and route the vessel mover accordingly.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of U.S. Provisional Patent Application No. 63 / 369,755, filed on July 28, 2022, entitled “DYNAMIC ROUTING ALGORITHMS FORMODULAR ANALYZER SYSTEMS,” the disclosure of which is hereby incorporated by reference in its entirety for all purposes. Background Art

[0003] Liquid handler systems and other automated laboratory diagnostic systems are designed to process a large number of samples at any given time, especially in large-scale reference laboratories where multiple such systems may be connected via another laboratory automation network (e.g., Automation, FlexLab TM System). In this case, the number of sample carriers present on the system can total hundreds or even thousands. Once a sample is introduced by loading onto a sample carrier, it is instructed to visit a specific set of destinations (i.e., modules or analyzers). These can be in a specific order (e.g., the sample needs to visit the centrifuge first, and then visit the unpacker), and are usually given a time window to do so (e.g., arrive at the analyzer suction station within a certain time window). Therefore, the sample transport system must determine how to get all the sample carriers to their desired destinations while ensuring that the samples do not collide. In addition, if the time window is to be adhered to, these samples may need to plan the optimal movement (e.g., waiting at a certain location or wandering around a certain area) to achieve their destination. Finally, the sample transport system must attempt to minimize the amount of wear on the system by limiting unnecessary or excessive movement.

[0004] Conventional liquid handler systems and other laboratory automation systems perform this "routing" by using fixed, hard-coded paths within the transport system for each sample carrier (e.g., a handcrafted path or a path algorithmically generated using A* or another search algorithm), an outdated technique borrowed from traditional production lines. However, since each sample has a unique work list, such hard-coded paths and search algorithms are not designed for efficiency. Furthermore, since the hard-coded paths are specific to a particular configuration of a module, this technique is not scalable, since each new configuration of a modular liquid handler system will require an entirely new set of hard-coded paths.

[0005] Another major drawback of conventional systems is that the paths of all carriers on the track are not taken into account during the planning phase, thus causing planning to occur in a purely "non-cooperative" manner. In other words, conventional transport control systems typically assume that each sample carrier perfectly follows its assigned hard-coded path, and plan the path of each individual carrier to avoid collisions based on this (often incorrect) assumption. Unfortunately, when carriers behave in this manner without any aspect of collaboration (i.e., ensuring that all carriers eventually reach their target destinations), collisions and jams may occur due to invalid sample assignments, which is particularly likely in large automated systems with hundreds of analyzers / modules and processing thousands of samples at any given time.

[0006] In summary, conventional transport control systems have several problems, including inefficiencies in how tracks are utilized and routes are planned, the possibility of collisions or jams in the event of a malfunction of any individual carrier, and the necessity to construct custom route planning software for each individual system. Therefore, there is a need in the art for route planning techniques for modular liquid handler systems or other sample processing systems that address these and other problems associated with conventional route planning techniques. Summary of the invention

[0007] The present disclosure generally relates to laboratory automation systems and clinical chemistry analyzer systems for use in laboratory environments. In particular, the present disclosure is generally directed to efficient movement of patient samples in laboratory automation systems.

[0008] In one embodiment, the present disclosure relates to a liquid handler system for processing liquid samples, the liquid handler system comprising: one or more modules configured to process liquid samples; and a track system interconnecting the modules, the track system configured to support one or more vessel movers including magnets and receiving liquid samples. A routing control system is configured to receive a representation of the configuration of the modules and vessel movers associated with the liquid handler system. The routing control system is also configured to: use a routing algorithm to determine a route for each of the vessel movers based on the representation, and to move the vessel movers along the track system between modules according to the route determined for each of the one or more vessel movers.

[0009] In some embodiments, the routing system is also configured to determine whether any additional modules or vessel movers are associated with the liquid handling machine system, and to receive updated representations corresponding to updated configurations of modules, vessel movers, and any additional modules or vessel movers associated with the liquid handling machine system. The routing system can also be configured to use a routing algorithm to determine an updated route for each of the movers based on the updated representation, and to move the vessel movers and additional vessel movers along the track system between the modules and additional modules according to the updated routes determined for each of the movers and additional vessel movers. In some embodiments, the representation includes a grid. In some embodiments, the grid graphically indicates the locations of the track system, modules, and vessel movers.

[0010] In some embodiments, the routing control system includes a neural network, which may include an actor-critic network. In some embodiments, the routing control system executes a graph search algorithm, which may include a conflict-based search (CBS) algorithm.

[0011] In one embodiment, the present disclosure relates to a method for performing the functions mentioned above. An exemplary method for routing one or more vessel carriers associated with a liquid handler system configured to process liquid samples is a method as follows, wherein the liquid handler system includes: one or more modules configured to process liquid samples; and a track system that interconnects the one or more modules and is configured to support the one or more vessel movers thereon. The vessel mover includes a magnet and is configured to receive a liquid sample. The method includes the following steps: receiving a representation corresponding to the configuration of the modules and vessel movers associated with the liquid handler system by a routing control system; determining a route for each of the vessel movers based on the representation by the routing control system using a routing algorithm; and causing the vessel mover to move along the track system between modules according to the route determined for each of the one or more vessel movers by the routing control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings, which are incorporated in and form a part of the specification, illustrate embodiments of the present invention and, together with the written description, are used to explain the principles, characteristics, and features of the present invention. In the drawings:

[0013] Figure 1 is a top view of an exemplary sample processing module according to at least one aspect of the present disclosure.

[0014] Figure 2 is a perspective view of an exemplary sample processing module according to at least one aspect of the present disclosure.

[0015] Figure 3is a diagrammatic view of an exemplary integrated modular automated track system according to at least one aspect of the present disclosure.

[0016] Figure 4 is a perspective view of an exemplary automated track system according to at least one aspect of the present disclosure.

[0017] Figure 5 is a perspective view of an exemplary automated track system according to at least one aspect of the present disclosure.

[0018] Figure 6 is a cross-sectional view of an exemplary automated track system according to at least one aspect of the present disclosure.

[0019] Figure 7 is a top view of an exemplary automated track system according to at least one aspect of the present disclosure.

[0020] Figure 8 is an illustration of a track segment of a liquid handler system according to at least one aspect of the present disclosure.

[0021] Fig. 9 is a diagram of a vessel mover actuator according to at least one aspect of the present disclosure.

[0022] Fig.10 is a diagram of a liquid handler system having a routing control system according to at least one aspect of the present disclosure.

[0023] Fig.11A is a perspective view of an illustrative configuration of a modular analyzer system in accordance with at least one aspect of the present disclosure.

[0024] Fig. 11B is a perspective view of another illustrative configuration of a modular analyzer system in accordance with at least one aspect of the present disclosure.

[0025] Fig. 11C is a perspective view of yet another illustrative configuration of a modular analyzer system in accordance with at least one aspect of the present disclosure.

[0026] Fig.12 is an illustration of a track system configured for the modular analyzer system shown in FIG. 11 in accordance with at least one aspect of the present invention.

[0027] Fig.13 is a flow chart of a process for dynamically planning a route for a vessel mover in a modular liquid transport system in accordance with at least one aspect of the present disclosure.

[0028] Fig.14 is a grid representation of a liquid handling machine system configuration as input to a route planning algorithm according to at least one aspect of the present disclosure.

[0029] Fig.15 is a diagram illustrating a conflict-based search (CBS) algorithm according to at least one aspect of the present disclosure.

[0030] Fig.16 is a representation of a liquid handling machine system configuration including a time dimension according to at least one aspect of the present disclosure.

[0031] Fig.17 is a diagram showing a field of view (FOV) for training a neural network for dynamically planning routes for a vessel mover in a modular liquid transport system according to at least one aspect of the present disclosure.

[0032] Fig.18 is a diagram of an actor-critic network in accordance with at least one aspect of the present disclosure. DETAILED DESCRIPTION

[0033] The present disclosure is not limited to the specific systems, devices, and methods described, as these may vary. The terminology used in the description is for the purpose of describing the particular versions or embodiments only and is not intended to limit the scope.

[0034] As used herein, the terms "algorithm", "system", "module", "engine" or "architecture", if used herein, are not intended to limit any specific implementation for implementing and / or performing actions, steps, processes, etc. that can be attributed to and / or performed by the above. Algorithms, systems, modules, engines and / or architectures can be, but are not limited to, software, hardware and / or firmware or any combination thereof that perform specified functions, including but not limited to any use of general and / or special purpose processors in conjunction with appropriate software loaded or stored in a machine-readable memory and executed by the processor. Further, unless otherwise specified, any names associated with a particular algorithm, system, module and / or engine are for ease of reference and are not intended to be limited to a particular implementation. Additionally, any functionality attributed to an algorithm, system, module, engine and / or architecture can be performed equally by multiple algorithms, systems, modules, engines and / or architectures, combined in and / or with the functionality of another algorithm, system, module, engine and / or architecture of the same or different type, or distributed across one or more algorithms, systems, modules, engines and / or architectures with various configurations.

[0035] Automated Liquid Handler Systems

[0036] A liquid handler or liquid handling robot is a system designed to distribute and handle any type of liquid, including reagents and patient samples. Liquid handlers are particularly suitable for automating workflows in life science laboratories, such as clinical or research laboratories. Some liquid handlers, which can be referred to as "analyzers" or "analyzer systems," are additionally adapted to handle samples and perform tests on samples using, for example, immunoassays and / or clinical chemistry techniques.

[0037] The liquid handler may include automated systems that are coupled to the liquid handler in their entirety or as modules. Some liquid handler systems may include several modules or stations that are suitable for performing different tasks or tests. In these embodiments, the automated system may include a transport system for containers that are suitable for transporting samples and / or reagents between each module or station. As described above, the transport system may include a friction-based mobile system, a conveyor belt, and a magnetically driven mobile system. The automated system may also include a sensor assembly for detecting parameters associated with the container or other aspects of the transport system and a control system that is configured to control the movement of the container accordingly.

[0038] In some embodiments, the liquid handler system can utilize a modular system including an automated clinical chemistry analyzer module and an automated immunoassay analyzer module with sample loading capabilities to transport patient samples to and from the analyzer modules performing in vitro diagnostic assay analysis. The system can be scalable in multiple configurations of modules, allowing for annual throughput needs of customers ranging from low volume to very high volume / large market segments (i.e., 500,000 to 5M or more tests per year).

[0039] In some embodiments, the automation system can be described as a process control manager (PCM) that manages sample processing. This includes providing: input and output of samples into and out of the system; temporary storage of samples while awaiting processing; scheduling samples for processing at various analyzers attached to the PCM; facilitating movement of samples throughout the automation track (including onto and off the automation track); and maintenance of the automation system in some embodiments. In various embodiments, the PCM may include a variety of different modules, including a sample handler and a vessel mover.

[0040] The sample handler provides the user with a means to load and unload routine samples, STAT samples, and control / calibrator vials onto and off the system. Within the sample handler, a robotic subsystem is responsible for moving these tubes between other subsystems and modules, including the sample I / O (drawer trays), control storage, and vessel movers.

[0041] The vessel mover subsystem handles this material distribution.Under normal circumstances, laboratory technicians will not directly manipulate the vessel mover track.The vessel mover manages the carrier on the automated track of mobile sample or reagent, and each carrier has a holder of a special type.In certain embodiments, the liquid handler system may include reagent carriers, which are configured to accept test kits and are transported to the accessible position of the one or more analyzer modules via automated tracks.In certain embodiments, the reagent carrier can be suitable for handling reagents from both immunoassay modules and clinical chemistry modules.

[0042] Figure 1 A top view of an exemplary sample processing machine 10 that can be used in some embodiments is shown. In this figure, the sample processing machine 10 is oriented so that the front (i.e., the face with which the operator interacts) is at the bottom of the page, and the rear of the automated track is at the top of the page. The sample processing machine 10 includes a tube characterization station 12 at the robot / track interface. When the tubes are placed on the carriers on the track 14, the tube characterization station 12 characterizes the tubes and the carriers. This allows information about the identity of the tubes placed in each carrier and the physical condition of each tube (e.g., the size of the tube, the liquid level, whether there is a tube top cup, etc.) to be determined. A control / calibrant storage area 14 is positioned adjacent to the tube characterization station 12. This allows long-term refrigerated storage of control and calibrant fluids near the track, thereby allowing these fluids to be easily placed into the carriers on the track for movement to relevant locations in the analyzer. The location of the storage 16 also allows the input / output drawer 18 to be placed at the front of the sample processing machine 10. In this example, there are four adjacent drawers 18 that can be opened and pulled out individually.

[0043] The robotic arm 20 can move in two dimensions to pick up any tube in the drawer 18 and move the tubes to and from the storage 16 and the carriers on the track 14. The robotic arm 20 can be positioned by moving the gantry from the front to the back of the sample processing machine 10 while the carriage moves from side to side along the gantry. The opposable end effectors can then move vertically to reach down to pick up the tubes, closing the end effectors when they are properly positioned to engage the tubes.

[0044] To assist the robotic arm 20 in successfully engaging each tube, a drawer vision system 22 is placed above the drawer at the opening of the drawer. This allows a series of images to be taken as the tray moves past the drawer vision system, which looks down at the tubes in the tray. By flashing a series of cameras, multiple images can be captured in a buffer, with each tube appearing in multiple images. These images can then be analyzed to determine the physical characteristics of each tube. For example, the diameter and height of each tube can be determined. Similarly, the capped or uncapped state of each sample can be quickly determined. In addition, the presence or absence of a tube top cup (a small plastic well placed on the top of the tube to allow the tube to transport a much smaller volume at a greater sample depth, allowing for easier aspiration) can also be determined. Similarly, the characteristics of any cap can be determined from these images. This can include specific color markings on the cap to identify a given sample as a higher priority (STAT) sample.

[0045] The module manager PC can use this information to schedule the movement of samples from each tray in the drawer 18 into the carriers on the track 14. The module manager PC can also instruct the robotic arm 20 how to interact with each tube, including identifying the appropriate height of the end effector before engaging, and the appropriate force or distance to use when engaging the end effector to accommodate a variety of tube diameters.

[0046] Figure 2 is a perspective view of the sample processing machine 10. In this example, the track 14 is generally parallel to the front face of the drawer 18, and the refrigerated storage 16 is a large physical object between the drawer 18 and the track 14. At the same time, the robotic arm 20 moves on the support, well above the height of the drawer 18 and the refrigerated storage 16. In some embodiments, the sample processing machine 10 may include a tube characterization station 12 and a drawer vision system 22; however, from Figure 2 The view in omits these stations to allow a better understanding of the interior of the sample processing machine 10.

[0047] Figure 3The vessel mover component of the PCM is illustrated, and the PCM moves samples from the input area to the analyzer module, assists in processing those samples in the analyzer, and returns the processed samples to the output area of ​​the sample processing machine. The multi-module analyzer system 30 includes a plurality of interconnected modules. In this example, the system 30 includes a plurality of sample processing machines 10. By utilizing a plurality of sample processing machines, more sample trays can be put into the system, thereby allowing a larger batch to be started at the beginning of a round. In addition, this also allows twice the sample to be placed on the track and taken out from the track. This means that for a larger system with a plurality of analyzer modules that can operate in parallel, the input / output throughput can be matched with the analytical throughput of the parallel analyzer. For example, if the analyzer module can process 500 samples per hour, and three analyzer modules are used, the input / output demand for supplying these modules can be as high as 1500 samples per hour. In some embodiments, a single sample processing machine may not be able to handle the demand, thereby requiring the addition of a plurality of sample processing machines to keep up with the input / output demand of the analyzer module.

[0048] Furthermore, in some embodiments, one of the sample processors may be configured to serve as an input, while another sample processor may be configured as an output.Using a modular approach, a single sample processor 10 may be used, but for larger systems, two or more sample processors may be used.

[0049] In the exemplary system 30, two analyzer modules are utilized. Analyzer module 32 is an immunoassay (IA) analyzer. Analyzer module 34 is a clinical chemistry (CC) analyzer. The two analyzer modules perform different assays, testing different characteristics of patient samples.

[0050] Track 14 is a multi-branch track that forms the core of the vessel mover system. As can be seen, track 14 includes branches and lengths that are provided integrally with sample processing machine 10 and analyzer modules 32 and 34. The functions of each branch will be related to Figure 5 and Figure 6 to explain. In addition to the track segments provided by these modules, additional modules 38, 40 and 42 provide short dedicated track segments that can be bolted to track sections provided by other modules. Track modules 36, 38, 40 and 42 provide powered track segments without additional hardware associated with sample handler modules or analyzer modules. While modules 10, 32 and 34 can be complete cabinets extending from the laboratory floor to the height of track 14 and above, track segment modules 36, 38, 40 and 42 can be bolted-on segments extending from the cabinets of other modules without the need for floor-length support. Figure 3Each module in the vessel mover system can be bolted together in a modular manner using leveling hardware so that each track segment between adjacent modules forms a virtually seamless track for carriers to traverse the vessel mover system.

[0051] In the exemplary system 30, it can be seen that the sections 44 of the track of the analyzer module 32 may need to be changed from the corresponding sections of the analyzer module 34. In some embodiments, the track sections of the analyzer module are in the same configuration as those shown in the analyzer module 34 when they are shipped from the factory. This allows multiple analyzers to be placed in series, thereby simply bolting their respective track sections together to form a long chain. In some embodiments, in the case where there is an offset between the sample processing machine module and the rear track section of the analyzer module, as shown in the system 30, an S-shaped bend may be required to allow the carrier to move from the rear track section of the analyzer module to the rear track section of the sample processing machine module. In this example, the S-shaped bend is provided by bolting on the track sections 42 and the changes in the area 44. Therefore, it should be understood that the track sections in the analyzer module, although integral with those modules, can be widely modified when installed, thereby allowing a variety of configurations of the track sections in the analyzer module. However, it should be understood that these track sections are still very integral with those analyzer modules. In some embodiments, the rear of the analyzer modules 32 and 34 are flush with the rear of the sample processing machine 10, thereby completely eliminating the need to change track segments 44 and sections 42.

[0052] Track segments 38 and 40 are U-shaped track segments that provide a return between the front track segment and the rear track segment, allowing transport to move around the track 14 without passing through the internal chordal segments within the sample processing machine or analyzer module. This allows the track 14 to form an external loop, wherein the main transport moves along the periphery of the analyzer module. At the same time, the internal track segments bypass the main loop, thereby providing a direct path (from front to back) between the two sides of each analyzer module, which serves as a route for local transport. These chordal segments may also be referred to as internal segments / track segments, bypass segments / track segments, or in some cases, local track segments. These chordal segments bypass the external loop to provide access to the pipette. This allows small physical queues associated with each sample processing machine or analyzer module to utilize those internal chordal segments without blocking the overall flow of the track 14.

[0053] Dedicated track segment modules 36 facilitate sample returns and branching within track 14 to allow the central computer system of the PCM to direct transport in a flexible manner. The outer track portion provides a way for samples to move from the sample processing machine module 10 to the track segment of the analyzer module 32, and vice versa. At the same time, the inner chord of the track segment module 36 provides a branch, whereby the sample can move from the analyzer 32 to the analyzer 34 (in a counterclockwise manner) without moving into the sample processing machine module 10. This facilitates multiple tests of a single sample tube, allowing the sample tube to move freely between analyzer modules, regardless of how they are arranged on the right side of the system 30. This gives the PCM scheduling software flexibility in how samples are arranged for testing within the analyzer module without increasing the flow on the track segment associated with sample processing. Track segments 36 provide boundaries between sources and sinks (e.g., sample processing machine module 10) and processors (e.g., analyzer modules 32 and 34) by providing branching loops within segments 36 (and segments 42 in some embodiments). The loop allows the sample carrier to move between the source, sink, and processor, including allowing the sample to circulate without returning to the source and sink.

[0054] Figure 3 Not shown in the figure is a central computer including a system instrument manager software component. The instrument manager software merges information from lower level modules, such as sample handler 10 and analyzer modules 32 and 34, to present this information to the operator. The instrument manager receives information from other modules through a network (e.g., internal Ethernet) within the system. Information can be requested and provided asynchronously between modules and the central computer. The central computer can also work between the LIS and the vessel mover system to arrange samples and their movement within the system. The central computer can also work between the vessel mover system and each module to hand over the control of the sample and start the test of the sample once the sample arrives at a certain position.

[0055] Additional information regarding in vitro diagnostic systems can be found in U.S. patent application Ser. No. 16 / 319,306, filed on Jan. 18, 2019, and entitled “AUTOMATED CLINICAL ANALYZER SYSTEM AND METHOD” (published as U.S. Patent Application Publication No. 2019 / 0277869A1), which is hereby incorporated by reference in its entirety.

[0056] Automated PCB-based track construction

[0057] Various liquid handlers may include various transport systems, including magnetic drive systems, friction-based track systems, or conveyor belts. For example, some liquid handlers include tracks with multiple synchronously controlled magnetic coils. In these analyzer systems, the automated track is configured to move sample carriers via synchronously controlled magnetic coils that propel the sample carriers along the track segments of the analyzer system. However, conventional magnetically driven transport systems use metal substrates for automated tracks. As generally discussed above, metal substrates have several disadvantages, including cost and weight. Various embodiments can be applied to any of these above-mentioned transport systems. Some embodiments of the transport systems described herein include PCB-based substrates for automated tracks. In these embodiments, each track segment may include one or more PCBs and coil arrays configured to electromagnetically actuate a vessel mover to transport the vessel mover along it.

[0058] In some embodiments, the track section is divided into several coil plates. The coil plate includes a linear coil array, which can be mounted at the metal substrate of the track. For straight track sections, each coil plate is straight, and in corners or bends, the coil plate includes appropriately arranged coils to match the bends. All coil plates are controlled by the main board and the node controller. In some embodiments, each main board can control up to eight different coil plates. At the same time, the node controller is centralized. A single node controller can control the entire vessel mover track. In some embodiments, multiple distributed node controllers can be used for scalability. For example, in a larger system where the track extends for several meters, multiple node controllers can be used, and control of the carrier can be handed over when the carrier passes through different areas of the track network.

[0059] Figure 4 Shown is a perspective view of the track system 160. The track system 160 is configured with a single sample handler unit and two analyzer modules. Figure 5 A track system 160 is shown that is located in a fully operational analyzer system 162, which includes a sample processing machine module 10 and two analyzer modules 32 and 34. As can be seen, the track system 160 is housed in the modules themselves, so that the operator is not easily accessible to the track. However, track 160 and analyzer system 162 utilize modular design, so that track components reside in each module, and each module can be easily linked together by placing adjacent modules nearby and linking them, to connect track sections. The cover above track 160 can be removed during installation or maintenance to help the linking of track. In certain embodiments, track sections are extended by placing modules adjacent to each other and bolting the track sections of each module together to form a single multi-branch track system such as track 160. Signal cables can be daisy-chained together for the convenience of extended control.

[0060] Figure 6 A cross-sectional view of a track segment 170 is shown. Track segment 170 may be a track segment used in track 160. In this embodiment, the carrier straddles between rails 172 on a track surface 174. In some embodiments, rail 172 is an aluminum extrusion that also includes vertical sides on the exterior of the track component below track surface 174. These aluminum extrusions may include brackets to easily bolt internal components to these side components to form a track unit. In the embodiments described herein, track surface 174 is a PCB. In various embodiments, PCB track surface 174 may include one or more coatings or other components. A base plate 176 resides at the bottom of the side components of rail 172. Base plate 176 may be mounted to a module containing track segment 170 and provide support for the track system.

[0061] There is a series of coils 180 below the track surface 174. The longitudinal direction of the track section 170 enters the page; when traveling along the track section 170, additional coils 180 will be encountered. The coils 180 are preferably mounted to the coil plate 182, and are preferably transversely elliptical so that a higher coil density can be achieved in the longitudinal direction of the track. In some embodiments, the coil plate 182 is a printed circuit board (PCB) that includes several coils 180 in the longitudinal direction. The exemplary coil plate is 250mm in length, thereby accommodating all the coils 180 required for a 250mm track. Therefore, a typical track section will have several coil plates 182, including dozens of coil plates 182, to form the entire track system. In some embodiments, the coil plate 182 receives a control signal to indicate the trajectory of the carrier and the 24VDC power supply applied to the coil plate. The coil plate 182 includes a coil 180, a motor driver that drives those coils, and one or more sensors that detect the presence of the carrier passing through the track surface above the coil plate by detecting the magnet of the carrier. These sensors may include Hall effect sensors to detect the presence and position of a carrier traveling along the coil plate. Therefore, there may be more sensors than coils, allowing the position of a carrier passing through the track surface 174 to be finely resolved. In addition, an RFID receiver may be used to receive an RFID signal that identifies a carrier traveling along the track surface. In some embodiments, a magnetic feature specific to each carrier may be detected by a Hall effect sensor to magnetically determine the identity of the carrier. For example, a carrier passing through an array of Hall effect sensors may be characterized during manufacture to identify the unique features of the carrier based on rise time and signal artifacts, which are detected by the Hall effect or sensor array when a magnet in the carrier travels over the array. In some embodiments, a magnet smaller than the main drive magnet may be placed in the bottom portion of the carrier to intentionally create a unique feature for each carrier during manufacture. The magnetic feature may be associated with the identity of each carrier in the software used for the vessel mover system. An exemplary linear synchronous motor drive system is described in U.S. Patent No. 9,346,371.

[0062] Figure 7A top view of an exemplary track system 160 is shown, wherein each track segment is indicated. There are generally four types of track segments that constitute the modular design of the track system 160. The switching section 184 is a branch in the track. The track surface of the switching section 184 is roughly T-shaped with a rounded inner edge. At the same time, the track of the switching section 184 includes a straight track (the top of the T), a curved track (an inner corner of the T) and a curved track (another inner corner of the T) including a switching mechanism. The switching mechanism is a movable track component that can be rotated a predetermined degree to act as a switcher (e.g., 20-30 degrees, depending on the geometry). On one side of the track component, it acts as a straight track. On the other side of the track component, the track itself presents a curved track that forms the outer corner of the turn. By switching the movable track component, the movable track component can provide an outer or simple straight track for turning. Therefore, the moving component provides a two-state switch, whereby the switching section 184 itself presents a turn or a straight track according to the control signal. This can be used to turn the various carriers based on the state of the switching section. It should be noted that although the track can be bidirectional, only one end of the T can be connected to the center portion of the T to form a turn. Therefore, although the switching section 184 can have three ports, essentially, one port can be switched to either of the other two ports, and those two ports cannot be connected together.

[0063] A simpler type of track segment is a straight track, such as the outer straight track 186 or the inner straight track 188. The basic components of the straight tracks 186 and 188 are the track surface and the rails, wherein a series of coil plates provide linear power along the direction of the straight track. The straight tracks 186 and 188 are respectively indicated at Figure 7 This is because in some embodiments, the internal straight 188 can be operated under the control of a local module, rather than under the control of the vessel mover controller that controls the entire track 160. This allows each local module to independently operate the track segment 188 to act as a local random approach queue. After moving the carrier from the switching section 184 to the local internal straight 188, the vessel mover controller can transfer control to the local module. Similarly, when the local module has completed the aspiration of the sample residing on the internal straight 188, the module can move the sample carrier into the switching section 184 and transfer control to the vessel mover controller. In some embodiments, the internal track segment 188 still operates under the control of the vessel mover controller that controls the entire track system 160. In order to control the local queue on the internal straight 188, the local module can communicate directly with the vessel mover controller to request the movement of the carrier within the track segment 188. This allows a local module to assert control of the carriers in its queue by responding to the communication system with a request, thereby allowing the vessel mover controller to have expertise in moving individual carriers and operating the track system 160 .

[0064] The fourth type of track segment is a curved track segment 190. The curved track segment 190 provides a 90° bend (or bend at another angle) with a predetermined radius. The radius is preferably the same as the radius used in the turn when the switching track segment 184 switches to a curve. The radius is selected to minimize the spatial impact of the curve while allowing the carrier to move quickly around the curve without encountering severe lateral forces. Therefore, the space requirements and speed requirements of the automation track 160 can determine the radius of the curved segment 190.

[0065] Electrically, the curved section 190 is substantially identical to the straight tracks 186 and 188. Each of these sections includes a plurality of coils that are activated in sequence to provide a linear motor in conjunction with magnets in the bottom of the carrier. Each coil is activated to provide a thrust or pull on a drive magnet placed in the bottom of each carrier. The speed at which the coils are activated in sequence determines the speed of the carrier on that track section. In addition, the carrier can be moved to a certain position and stopped at a predetermined position with high resolution by activating the coils at that position.

[0066] Figure 8 Shows such as Figure 4-7 An illustrative embodiment of a track segment 201 of an automated track system 200 of the track system 160 shown in FIG. As generally described above, the automated track system 200 is configured to support one or more vessel movers 202, which are configured to receive vessels 204 (also referred to as "carriers" or "sample carriers") therein. The track segment 201 may include a straddling surface 206, which is the upper surface of the track segment 201, which supports the vessel mover 202 thereon and the vessel mover 202 is transported along the straddling surface between modules or components of the automated track system 200. In some embodiments, the straddling surface 206 may include an action area 207, along which the vessel mover 202 is intended to move. As shown, the action area 207 is the area between the dotted lines. The action area 207 can correspond roughly to the middle portion of the straddling surface 206. If any liquid contaminants are present on the active area 207, they may negatively impact or otherwise impair the movement of the vessel mover 202, as described above. In some embodiments, the track segment 201 may include a PCB substrate, as generally described above.

[0067] Furthermore, if Fig. 9As shown in , the track system 200 may include one or more coil arrays 208 associated with each track segment 201. The coil array 208 can be configured to generate a magnetic field that interacts with a magnet 203 positioned within the base of the vessel mover 202. The coil array 208 and the vessel mover magnet 203 can collectively define a linear electromechanical actuator. By synchronously controlling the coil array 208, the track system 200 can propel the vessel mover 202 (and therefore the vessel 204 containing any sample or other liquid held thereby) across the track segment 201 to a desired module or other component of the liquid handler system.

[0068] Additional information regarding transport systems for liquid handling machines can be found in US Patent Application No. 16 / 319,306, which is incorporated by reference above.

[0069] Dynamic routing control

[0070] As generally described above and in Fig.10 As shown in , the liquid handler system 250 may include a track system 200 that interconnects various modules 252. The track system 200 can also be configured to support and move various vessel movers, which in turn can carry samples to be processed by one or more of the various modules 252. In some embodiments, the liquid handler system 250 may also include a sensor assembly 256 having one or more sensors, which are configured to identify and track the movement of vessels and / or vessel movers when the vessels and / or vessel movers move between modules 252 across the track system 200. As generally described above, samples must be routed to various modules 252 and routed between them in a specific order and / or within a specific time window in order to be processed correctly and / or in an efficient manner. Therefore, the liquid handler system 250 may include a routing control system 258, which is configured to control the track system 200 and / or vessel carrier in a manner that allows samples to be supplied to the modules 252 in an appropriate order and within an appropriate time window.

[0071] As described above, the liquid handler system 250 can be modular, i.e., include a number of modules 252 that can be combined together in a variety of different configurations. These configurations may include different numbers of modules 252, different types of modules 252, and different arrangements of modules 252. For illustration purposes, Fig.11A A liquid handler system 250 is shown having three modules 252 arranged in a linear configuration. Further, Fig. 11B A liquid handler system 250 is shown having several modules 252 arranged in a generally C-shaped configuration. Further, Fig. 11CA liquid handling machine system 250 is shown having several modules arranged in a generally E-shaped configuration. Further, the track system 200 can be arranged in a variety of different configurations based on the number, type, and arrangement of the modules 252. For example, Fig.12 Shown for Fig.11A One possible arrangement of the track system 200 of an embodiment of the analyzer system 200 shown in FIG. 2 , wherein three modules 252 are arranged in a linear configuration. In this particular embodiment, the modules 252 include a sample handler (SH) and a pair of analyzers, and therefore, the track system 200 is arranged to transport samples from the SH modules to one or both of the analyzer modules, and then back to the SH modules. However, other embodiments may have different configurations for the automation rack 204 depending on the type of module 252.

[0072] In various embodiments, routing control system 258 may be implemented as hardware, software, firmware, or various combinations thereof. Fig.10 In the embodiment shown in , the routing control system 258 may be implemented as a computer system that executes various algorithms or processes that are configured to control sample transportation between modules 252 or otherwise throughout the liquid handler system 250. Thus, the routing control system 258 may include a processor 253 coupled to a memory 254 that stores instructions, such as routing algorithms, that are configured to control sample movement or transportation throughout the liquid handler system 250. Fig.13 An example of a route planning algorithm is illustrated in process 300 shown in . In one embodiment, process 300 may be implemented as instructions stored in memory 254, which, when executed by processor 253, cause routing control system 258 to perform process 300 and / or its steps or functions.

[0073] Thus, the routing control system 258 executing the process 300 can receive 302 a representation corresponding to a particular configuration of the liquid handler system 250. For example, the representation may include a grid, such as Fig.14 and Fig.18 . The routing control system 258 is capable of inputting 304 the representation into a routing algorithm that is adapted to receive as input the representation rather than a numerical value or other such form of data. In some embodiments, the routing algorithm may include, for example, a graph search algorithm or a neural network. Thus, the routing control system 258 is capable of determining 306 a route for each of the vessel movers 202 associated with the representation and causing 308 the vessel movers 202 to move according to the determined route. In some embodiments, the routing control system 258 may provide control signals to the coil array 208 associated with the track system 200 so that the coil array 208 drives the vessel movers 202 along the track system 200, such as Fig.10In general instructions.

[0074] In one embodiment, the routing control system 258 can dynamically adapt to the presence of additional modules 252 and / or vessel movers 202 (e.g., when modules 252 and / or vessel movers 202 are added to the liquid handler system 250). Thus, the routing control system 258 can determine 310 whether there are any additional modules 252 and / or vessel movers 202. If the control system 258 determines 310 that there are one or more additional modules 252 or vessel movers 202, the routing control system 258 can receive 302 or generate an updated representation corresponding to the new configuration of the liquid handler system 250 and continue with the process 300 as generally described above.

[0075] Example

[0076] To further illustrate the concepts discussed above, various examples are described below. These examples should not be construed as limiting in any way; rather, these examples are provided merely to assist in understanding various embodiments and implementations of the systems and methods described above.

[0077] In one illustrative embodiment, the representation may include a grid 400 such as Fig.14 The routing algorithm shown in and executed by the routing control system 258 may include a graph search algorithm. In this embodiment, the layout of the track system 200 is discretized into a grid 400 with a defined resolution. Fig.14 In the particular configuration shown in , four vessel movers 202 are shown as circular elements with corresponding target locations as square elements (note that carrier 2 is already at its location). The empty cells correspond to the locations of the track system 200.

[0078] As described above, the coil-driven magnet movement scheme employed by the PCB-based embodiments of the liquid handler system 250 allows the vessel movers 202 to move bidirectionally and independently of each other by controlling which coil arrays are activated, which is significantly different from conventional conveyor-based transport systems (which typically require all or a considerable number of vessel carriers 202 to move in a uniform, unidirectional manner). By utilizing this independent bidirectional control, the routing control system 258 is able to intelligently move the vessel movers 202 to, for example, make way for other vessel carriers 202 as they move around the track system 200. Note that in these embodiments of the liquid handler system 250, the bidirectional movement and independent controllability of the vessel movers 202, there are many possible routes that can be planned for each vessel mover 202, and a variety of different graph search algorithms can be used to plan those routes. In one embodiment, a multi-agent grant search algorithm may include a CBS algorithm. Typically, a CBS algorithm operates by recursively using a low-level search algorithm (e.g., A*) while keeping track of the results at a higher level. For example, Fig.15 How the CBS algorithm works is graphically illustrated. In particular, a single-agent A* search is performed for each agent. If there is a conflict in the agent's path, the CBS algorithm can mark the conflicting cell as an obstacle for one of the agents and run the single-agent A* search again for all agents. Thus, the CBS algorithm can recursively plan a route for each of the agents (i.e., the vessel mover 202) present in a given configuration of the liquid handling machine system 250.

[0079] In another embodiment, although Fig.14 Grid 400 is depicted in Cartesian coordinates, but the representation utilized by routing control system 258 may also include a temporal element (ie, time), which may be considered another dimension in the route planning process. For example, Fig.16 A three-dimensional representation 410 including time as a third dimension is illustrated. In particular, each unit of time may represent one unit of distance in the third dimension. Thus, a routing algorithm may find a path for an agent (i.e., vessel carrier 202) in this three-dimensional map. In this embodiment, certain movements may be prohibited, such as returning or staying at the same time when changing coordinates.

[0080] In one illustrative embodiment, the routing algorithm may include a neural network (e.g., a deep neural network). The neural network may be trained via reinforcement learning or other training machine learning training techniques. In this embodiment, the representation may include a local FOV associated with each of the vessel carriers 202, which is provided as an input to the neural network. In one embodiment, a policy network may be trained that learns to predict the actions of each agent depending on its current state, noting that the definition of a "nearby" agent may depend on the FOV associated with each of the agents. In various embodiments, the FOV may span the entire map, or may be a small radius around each agent to reduce computational burden. In Fig.17 In one embodiment shown in , FOV 420 is shown as a 10x10 grid. During execution of process 300, routing control system 258 may feed FOV 420 into a deep neural network trained in simulation to learn what the best possible next step will be (from a discrete set of actions). In one embodiment, the neural network may include an actor-critic network 430 ( Fig.18 ). In one embodiment, the simulation environment may include simulations of various configurations of the liquid handler system 250 in a reinforcement learning scheme. Once the actor-critic network 430 has been trained, it may be executed by the routing control system 258 during deployment to plan routes for any combination of vessel movers 202, configurations of the track system 200, configurations of the modules 252, etc. Further, because the neural network is not explicitly hard-coded to one or more specific liquid handler system configurations, the routing control system 258 may dynamically adapt to any number of different situations.

[0081] In summary, the present disclosure describes a routing algorithm that can dynamically adapt to the map of a modular analyzer system without any configuration-specific modifications. The dynamic routing technique described herein is advantageous because the algorithm itself is independent of the configuration (i.e., the algorithm can adapt to a variety of different liquid handling machine system configurations, and does not need to be independently programmed for each configuration). Further, although the present disclosure is mainly described in the context of a two-dimensional track system, the technology described herein can be extended to a three-dimensional track because the algorithm described herein is constant for two or three dimensions. In addition, these planning algorithms can be adjusted to optimize the use parameters that a user may expect, including distance, travel time, vessel mover wear, etc. that are used to minimize travel. This in turn can provide an efficient and optimized vessel mover route that is specifically customized for the needs of each user. Finally, a key component of using this dynamic method is that the status of all other vessel movers is considered simultaneously when planning the path, and even movement commands can be issued to other vessel movers to achieve the planned path. This ensures that all samples arrive at their desired destinations in a timely (JIT) manner while avoiding collisions.

[0082] Although various illustrative embodiments incorporating the principles of the present teachings have been disclosed, the present teachings are not limited to the disclosed embodiments. Instead, the present application is intended to cover any variation, use, or adaptation of the present teachings, and to use their general principles. Further, the present application is intended to cover such deviations from the present disclosure that are within known or customary practices in the art to which these teachings belong.

[0083] In the above detailed description, reference is made to the accompanying drawings which form a part of the detailed description. In the accompanying drawings, similar reference numerals generally designate similar parts unless the context dictates otherwise. The illustrative embodiments described in the present disclosure are not intended to be limiting. Other embodiments may be used, and other changes may be made, without departing from the spirit or scope of the subject matter presented herein. It will be readily understood that the various features of the present disclosure as generally described herein and illustrated in the drawings can be arranged, substituted, combined, separated and designed in a wide variety of different configurations, all of which are expressly contemplated herein.

[0084] A second action can be said to be "responsive to" a first action, regardless of whether the second action is caused directly or indirectly by the first action. A second action can occur much later than the first action and still be responsive to the first action. Similarly, a second action can be said to be responsive to the first action even if intermediate actions occur between the first and second actions, and even if one or more of the intermediate actions directly cause the second action to be performed. For example, a second action can be responsive to the first action if the first action sets a flag, and a third action initiates the second action whenever the flag is set.

[0085] The present disclosure will not be limited with respect to the specific embodiments described in this application, and these specific embodiments are intended to illustrate various features. As will be apparent to those skilled in the art, many modifications and variations can be made without departing from its spirit and scope. In addition to the methods and equipment enumerated herein, it will be apparent to those skilled in the art from the foregoing description that the functionally equivalent methods and equipment within the scope of the present disclosure are within the scope of the present disclosure. It will be understood that the present disclosure is not limited to specific methods, reagents, compounds, compositions or biological systems, which can certainly change. It will also be understood that the terms used herein are only used to describe the purpose of specific embodiments, and are not intended to be restrictive.

[0086] With respect to the use of substantially any plural and / or singular terms herein, those skilled in the art can translate from the plural to the singular and / or from the singular to the plural as is appropriate to the context and / or application. For sake of clarity, the various singular / plural arrangements may be expressly set forth herein.

[0087] Those skilled in the art will understand that, in general, the terms used herein are generally intended to be "open" terms (e.g., the term "including" should be interpreted as "including but not limited to", the term "having" should be interpreted as "having at least", the term "comprising" should be interpreted as "including but not limited to", etc.). Although various compositions, methods, and apparatus are described in terms of "comprising" various components or steps (interpreted to mean "including but not limited to"), the compositions, methods, and apparatus can also "consist essentially of" or "consist of" the various components and steps, and such terms should be interpreted as essentially defining a closed group of members.

[0088] As used in this document, the singular forms "a", "an", and "the" include plural references unless the context clearly dictates otherwise. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. Nothing in this disclosure should be construed as an admission that the embodiments described in this disclosure are not entitled to antedate this disclosure by virtue of prior invention.

[0089] In addition, even if a specific number is explicitly stated, those skilled in the art will recognize that such a statement should be interpreted as meaning at least the stated number (e.g., the unmodified statement "two objects of description" without other modifiers means at least two objects of description, or two or more objects of description). In addition, in those cases where idioms similar to "at least one of A, B, and C, etc." are used, generally speaking, such a structure means the idiomatic meaning that will be understood by those skilled in the art (e.g., "a system having at least one of A, B, and C" will include, but is not limited to: a system having only A, a system having only B, a system having only C, a system having both A and B, a system having both A and C, a system having both B and C, and / or a system having both A, B, and C, etc.). In those cases where idioms similar to "at least one of A, B, or C, etc." are used, generally, such constructions are intended to mean the idiomatic meanings that would be understood by those skilled in the art (e.g., "a system having at least one of A, B, or C" would include, but are not limited to, a system having only A, a system having only B, a system having only C, a system having both A and B, a system having both A and C, a system having both B and C, and / or a system having both A, B, and C together, etc.). Those skilled in the art would further understand that virtually any transitional phrase presenting two or more alternative terms, whether in the specification, sample examples, or figures, should be understood to contemplate the possibility of including one of the terms, either of the terms, or both of the terms. For example, the phrase "A or B" would be understood to include the possibility of "A" or "B" or "A and B."

[0090] In addition, where features of the disclosure are described in terms of Markush groups, those skilled in the art will recognize that the disclosure is also thereby described in terms of any individual member or subgroup of members of the Markush group.

[0091] As will be understood by those skilled in the art, for any and all purposes, such as in terms of providing a written description, all ranges disclosed herein also encompass any and all possible sub-ranges and combinations of sub-ranges thereof. Any listed range can be easily identified as fully describing and enabling the same range to be decomposed into at least equal half, one-third, one-quarter, one-fifth, one-tenth, etc. As a non-limiting example, each range discussed herein can be easily decomposed into lower third, middle third, and upper third, etc. As will be understood by those skilled in the art, all languages ​​such as "up to", "at least", etc. include the recorded numbers, and refer to the ranges that can be subsequently decomposed into the sub-ranges discussed above. Finally, as will be understood by those skilled in the art, the range includes each individual member. Therefore, for example, a group with 1-3 components refers to a group with 1, 2 or 3 components. Similarly, a group with 1-5 components refers to a group with 1, 2, 3, 4 or 5 components, and the like.

[0092] Various of the above-disclosed and other features and functions or alternatives thereof may be combined into many other different systems or applications. Various currently unforeseen or unanticipated alternatives, modifications, changes or improvements therein may be subsequently made by those skilled in the art, each of which is also intended to be encompassed by the disclosed embodiments.

Claims

1. A liquid handling system for processing a liquid sample, the liquid handling system comprising: one or more modules configured to process the liquid sample; a track system interconnecting the one or more modules, the track system configured to support one or more vessel movers thereon, the one or more vessel movers comprising magnets and configured to receive the liquid sample; as well as A routing control system configured to: receiving a representation corresponding to a configuration of the one or more modules and the one or more vessel movers associated with the liquid handler system, determining, using a routing algorithm, a route for each of the one or more vessel movers based on the representation, and The one or more vessel movers are moved along the track system between the one or more modules according to the route determined for each of the one or more vessel movers.

2. The liquid handling machine system according to claim 1, wherein: The routing control system is also configured to: determining whether any additional modules or additional vessel movers are associated with the liquid handler system; receiving an updated representation corresponding to an updated configuration of the one or more modules, the one or more vessel movers, and any additional modules or vessel movers associated with the liquid handler system; using the routing algorithm, determining an updated route for each of the one or more vessel movers based on the update representation; as well as The one or more vessel movers and the additional vessel movers are moved along the track system between the one or more modules and the additional modules according to the updated route determined for each of the one or more vessel movers and the additional vessel movers.

3. The liquid handling machine system according to claim 1, wherein: The representation comprises a grid.

4. The liquid handling machine system according to claim 3, wherein: The grid graphically indicates the positions of the track system, the one or more modules, and the one or more vessel movers.

5. The liquid handling machine system according to claim 1, wherein: The routing control system includes a neural network.

6. The liquid handling machine system according to claim 5, wherein: The neural network includes an actor-critic network.

7. The liquid handling machine system according to claim 1, wherein: The routing control system executes a graph search algorithm.

8. The liquid handling machine system according to claim 7, wherein: The graph search algorithm includes a conflict-based search (CBS) algorithm.

9. A method of routing one or more vessel carriers associated with a liquid handler system configured to process a liquid sample, the liquid handler system comprising: one or more modules configured to process the liquid sample; and a track system interconnecting the one or more modules and configured to support the one or more vessel movers thereon, the one or more vessel movers comprising magnets and configured to receive the liquid sample, the method comprising: receiving, by a routing control system, a representation corresponding to a configuration of the one or more modules and the one or more vessel movers associated with the liquid handler system, determining, by the routing control system, a route for each of the one or more vessel movers based on the representation using a routing algorithm, and The one or more vessel movers are caused by the routing control system to move along the track system between the one or more modules according to a route determined for each of the one or more vessel movers.

10. The method according to claim 9, further comprising: determining, by the routing control system, whether any additional modules or additional vessel movers are associated with the liquid handler system; receiving, by the routing control system, an updated representation corresponding to an updated configuration of the one or more modules, the one or more vessel movers, and any additional modules or vessel movers associated with the liquid handler system; determining, by the routing control system using the routing algorithm based on the update representation, an updated route for each of the one or more vessel movers; as well as The one or more vessel movers and the additional vessel movers are caused by the routing control system to move along the track system between the one or more modules and the additional modules according to an updated route determined for each of the one or more vessel movers and the additional vessel movers.

11. The method according to claim 9, wherein: The representation comprises a grid.

12. The method according to claim 11, wherein: The grid graphically indicates the positions of the track system, the one or more modules, and the one or more vessel movers.

13. The method according to claim 9, wherein: The routing control system includes a neural network.

14. The method according to claim 13, wherein: The neural network includes an actor-critic network.

15. The method according to claim 9, wherein: The routing control system executes a graph search algorithm.

16. The method according to claim 15, wherein: The graph search algorithm includes a conflict-based search (CBS) algorithm.

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